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Vehicle running camber angle real-time detection method based on self-adaptive least square fitting

A technology of least squares and vehicle driving, applied in the direction of measuring devices, radio wave measurement systems, satellite radio beacon positioning systems, etc., can solve problems such as limited application, failure, and large environmental impact, and achieve low calculation costs and high accuracy high effect

Inactive Publication Date: 2019-03-19
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method is greatly affected by the environment. In places with insufficient light, especially at night, this method will basically fail completely. In addition, it is also affected by factors such as weather and road conditions.
These limit the application of this method in reality

Method used

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  • Vehicle running camber angle real-time detection method based on self-adaptive least square fitting
  • Vehicle running camber angle real-time detection method based on self-adaptive least square fitting
  • Vehicle running camber angle real-time detection method based on self-adaptive least square fitting

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Embodiment Construction

[0041] The present invention is further described below in conjunction with accompanying drawing:

[0042] A method for real-time detection of vehicle camber angles based on adaptive least squares fitting, comprising the following steps:

[0043] Step 1, project the original GPS data of the vehicle through the coordinate sequence to obtain k binary groups;

[0044] Step 2, set the threshold, and obtain the intercept and slope of the two fitted straight lines by least squares fitting for the k binary groups in step 1;

[0045] Step 3, calculate the loss value of the fitted straight line, if the loss value is greater than the threshold value, proceed to the next step, and calculate the direction vectors of the two straight lines through the intercept and slope; if the loss value is less than the threshold value, return to step 2 and recalculate;

[0046] Step 4. Calculate the angle between the direction vectors of the two straight lines and judge the turning direction. By doing...

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Abstract

The invention discloses a vehicle running camber angle real-time detection method based on self-adaptive least square fitting. By means of the method, the camber angle of each position during runningof a vehicle can be accurately calculated in real time, and correspondingly the turning degree when the vehicle is driven to make a turn and the deflection degree when the vehicle runs straightly canbe obtained and used for judging whether the driving behaviors of a person accord with the regulation or not. According to the method, through fitting of tracks, the backward direction and forward direction of the vehicle are calculated, and finally a turning angle is obtained. The method is based on the idea of a least square approach, and the idea is innovated; point sets around each point are found adaptively, and the turning angle of the point is calculated according to the found point sets. The method has extremely low complexity and a small error and greatly improves the real-time performance and accuracy of detection.

Description

technical field [0001] The invention relates to the field of vehicle driving safety assistance, in particular to a real-time detection method for vehicle driving camber angles based on adaptive least squares fitting. Background technique [0002] Detecting the steering angle of a vehicle is critical to vehicle and driver safety, as fatal accidents are often caused by dangerous steering. According to statistics, 23.1% of fatal road traffic accidents are related to lane changes, 7.7% are related to U-turns, and a total of 30.8% are related to vehicle steering actions. Existing methods for calculating the turning angle of a vehicle include calculations using a steering angle sensor, calculations using a magnetic sensor, and calculations using the front and rear cameras of a smartphone. However, these methods have their own limitations and cannot be used well in reality. [0003] The steering angle sensor of the vehicle can detect the rotation angle and rotation speed of the s...

Claims

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Application Information

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IPC IPC(8): G01S19/42
CPCG01S19/42
Inventor 马小博李琛良张立群冯燎原毛蔚轩
Owner XI AN JIAOTONG UNIV
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